From a7c8a85d30e43cb5bf1f14a27ae4b60a2ee658e9 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Fri, 26 Jan 2018 22:59:21 -0800
Subject: [PATCH] expose motor_dir

---
 Firmware/MotorControl/commands.cpp | 6 ++++--
 Firmware/MotorControl/low_level.h  | 2 +-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/Firmware/MotorControl/commands.cpp b/Firmware/MotorControl/commands.cpp
index ed9a263c..414d03d3 100644
--- a/Firmware/MotorControl/commands.cpp
+++ b/Firmware/MotorControl/commands.cpp
@@ -137,6 +137,7 @@ const Endpoint endpoints[] = {
             Endpoint::make_property("pll_ki", &motors[0].encoder.pll_ki),
             Endpoint::make_property("encoder_offset", &motors[0].encoder.encoder_offset),
             Endpoint::make_property("encoder_state", &motors[0].encoder.encoder_state),
+            Endpoint::make_property("motor_dir", &motors[0].encoder.motor_dir),
         Endpoint::close_tree(),
         Endpoint::make_function("set_pos_setpoint", &motors_0_set_pos_setpoint_func),
             Endpoint::make_property("pos_setpoint", &motors[0].set_pos_setpoint_args.pos_setpoint),
@@ -189,8 +190,9 @@ const Endpoint endpoints[] = {
             Endpoint::make_property("pll_vel", &motors[1].encoder.pll_vel),
             Endpoint::make_property("pll_kp", &motors[1].encoder.pll_kp),
             Endpoint::make_property("pll_ki", &motors[1].encoder.pll_ki),
-            Endpoint::make_property("encoder_offset", reinterpret_cast<int32_t*>(&motors[1].encoder.encoder_offset)),
-            Endpoint::make_property("encoder_state", reinterpret_cast<int32_t*>(&motors[1].encoder.encoder_state)),
+            Endpoint::make_property("encoder_offset", &motors[1].encoder.encoder_offset),
+            Endpoint::make_property("encoder_state", &motors[1].encoder.encoder_state),
+            Endpoint::make_property("motor_dir", &motors[1].encoder.motor_dir),
         Endpoint::close_tree(),
         Endpoint::make_function("set_pos_setpoint", &motors_1_set_pos_setpoint_func),
             Endpoint::make_property("pos_setpoint", &motors[1].set_pos_setpoint_args.pos_setpoint),
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 194e0a49..6ff91fd4 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -117,7 +117,7 @@ typedef struct {
     int encoder_cpr;
     int32_t encoder_offset;
     int32_t encoder_state;
-    int motor_dir; // 1/-1 for fwd/rev alignment to encoder.
+    int32_t motor_dir;  // 1/-1 for fwd/rev alignment to encoder.
     float phase;
     float pll_pos;
     float pll_vel;